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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li>  </ul>
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<a href="trajectory_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef TRAJECTORY_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define TRAJECTORY_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="timevariant__collisionobject_8h.html">timevariant_collisionobject.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="boundingvolume_8h.html">boundingvolume.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__obb_8h.html">rectangle_obb.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//#include &quot;collision/fcl/fcl_transform.h&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classcollision_1_1_trajectory.html">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_trajectory.html">Trajectory</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> {</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="classcollision_1_1_trajectory.html#a2877328b888698d91450c528e4aa8ebc">Trajectory</a>(<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html#a455b982fbedf86e5876076b73a1ffab1">time_start_idx</a>, std::vector&lt;Eigen::Vector2d&gt; positions,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;             std::vector&lt;double&gt; orientations, <span class="keywordtype">double</span> length, <span class="keywordtype">double</span> width,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;             <span class="keywordtype">double</span> max_interp_distance = 1.0);</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classcollision_1_1_trajectory.html#a9b652f177d0ff8743b8a1c601b6e6ddf">   27</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_trajectory.html#a9b652f177d0ff8743b8a1c601b6e6ddf">~Trajectory</a>() {}</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_trajectory.html#a896288ce80aa8907e6812702ef36e982">get_num_steps_for_timestep</a>(<span class="keywordtype">int</span> time_idx);</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_trajectory.html#a2b2081ad062b954d86df6b51478cbf5a">simulate_init</a>(<span class="keywordtype">int</span> time_idx,<span class="keywordtype">int</span> steps);</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_trajectory.html#a194d4460d6847b5c28394ccaf470f5db">simulate_step</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_trajectory.html#a16467256bfd806c0a152211b94c8d55f">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> <a class="code" href="classcollision_1_1_trajectory.html#ad0afb0d6928a4f20bb975a05b3f97947">getBoundingVolume</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  std::vector&lt;Eigen::Vector2d&gt; positions_;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  std::vector&lt;double&gt; orientations_;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  std::vector&lt;int&gt; steps_per_timestep_;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; <span class="comment">//RectangleOBB innerObject_;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="comment">//std::shared_ptr&lt;fcl::CollisionObject&lt;FCL_PRECISION&gt;&gt; collision_obj_;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="comment">//int simulate_step_;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">//int simulate_steps_;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="comment">//Eigen::Vector2d simulate_delta_pos_;</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">//double simulate_delta_angle_;</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="comment">//Eigen::Vector2d simulate_pos_;</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">//double simulate_angle_;</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html#ac948c1373eecc7d7c9029996c5dc2ab4">TimeVariantCollisionObject::time_start_idx_</a>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html#a83f60dea6e80754d544e5af6cedd36f1">TimeVariantCollisionObject::time_end_idx_</a>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html#aaeda983c8e36ac18f988168261f57744">TimeVariantCollisionObject::collision_object_at_time_</a>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;};</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="namespacecollision.html#a13a6ab4053fe6b183c4648ad6a50725f">   59</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;Trajectory&gt; <a class="code" href="namespacecollision.html#a13a6ab4053fe6b183c4648ad6a50725f">TrajectoryPtr</a>;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="namespacecollision.html#acc30ac61e398e12a231f9d911463659a">   60</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const Trajectory&gt; <a class="code" href="namespacecollision.html#acc30ac61e398e12a231f9d911463659a">TrajectoryConstPtr</a>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="boundingvolume_8h_html"><div class="ttname"><a href="boundingvolume_8h.html">boundingvolume.h</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_a896288ce80aa8907e6812702ef36e982"><div class="ttname"><a href="classcollision_1_1_trajectory.html#a896288ce80aa8907e6812702ef36e982">collision::Trajectory::get_num_steps_for_timestep</a></div><div class="ttdeci">int get_num_steps_for_timestep(int time_idx)</div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_a9b652f177d0ff8743b8a1c601b6e6ddf"><div class="ttname"><a href="classcollision_1_1_trajectory.html#a9b652f177d0ff8743b8a1c601b6e6ddf">collision::Trajectory::~Trajectory</a></div><div class="ttdeci">virtual ~Trajectory()</div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8h_source.html#l00027">trajectory.h:27</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html">collision::TimeVariantCollisionObject</a></div><div class="ttdoc">TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step...</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00023">timevariant_collisionobject.h:23</a></div></div>
<div class="ttc" id="namespacecollision_html_acc30ac61e398e12a231f9d911463659a"><div class="ttname"><a href="namespacecollision.html#acc30ac61e398e12a231f9d911463659a">collision::TrajectoryConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const Trajectory &gt; TrajectoryConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8h_source.html#l00060">trajectory.h:60</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html"><div class="ttname"><a href="classcollision_1_1_trajectory.html">collision::Trajectory</a></div><div class="ttdoc">Trajectory is a TimeVariantCollisionObject built from oriented bounding boxes (RectangleOBB) ...</div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8h_source.html#l00020">trajectory.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_a2877328b888698d91450c528e4aa8ebc"><div class="ttname"><a href="classcollision_1_1_trajectory.html#a2877328b888698d91450c528e4aa8ebc">collision::Trajectory::Trajectory</a></div><div class="ttdeci">Trajectory(int time_start_idx, std::vector&lt; Eigen::Vector2d &gt; positions, std::vector&lt; double &gt; orientations, double length, double width, double max_interp_distance=1.0)</div><div class="ttdoc">Creates a new Trajectory. </div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8cc_source.html#l00019">trajectory.cc:19</a></div></div>
<div class="ttc" id="namespacecollision_html_a13a6ab4053fe6b183c4648ad6a50725f"><div class="ttname"><a href="namespacecollision.html#a13a6ab4053fe6b183c4648ad6a50725f">collision::TrajectoryPtr</a></div><div class="ttdeci">std::shared_ptr&lt; Trajectory &gt; TrajectoryPtr</div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8h_source.html#l00059">trajectory.h:59</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_a455b982fbedf86e5876076b73a1ffab1"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#a455b982fbedf86e5876076b73a1ffab1">collision::TimeVariantCollisionObject::time_start_idx</a></div><div class="ttdeci">int time_start_idx() const </div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8cc_source.html#l00159">timevariant_collisionobject.cc:159</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_ac948c1373eecc7d7c9029996c5dc2ab4"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#ac948c1373eecc7d7c9029996c5dc2ab4">collision::TimeVariantCollisionObject::time_start_idx_</a></div><div class="ttdeci">int time_start_idx_</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00078">timevariant_collisionobject.h:78</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_a194d4460d6847b5c28394ccaf470f5db"><div class="ttname"><a href="classcollision_1_1_trajectory.html#a194d4460d6847b5c28394ccaf470f5db">collision::Trajectory::simulate_step</a></div><div class="ttdeci">int simulate_step(void)</div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="_application_8h_source.html#l00025">Application.h:25</a></div></div>
<div class="ttc" id="timevariant__collisionobject_8h_html"><div class="ttname"><a href="timevariant__collisionobject_8h.html">timevariant_collisionobject.h</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_a83f60dea6e80754d544e5af6cedd36f1"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#a83f60dea6e80754d544e5af6cedd36f1">collision::TimeVariantCollisionObject::time_end_idx_</a></div><div class="ttdeci">int time_end_idx_</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00079">timevariant_collisionobject.h:79</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_ad0afb0d6928a4f20bb975a05b3f97947"><div class="ttname"><a href="classcollision_1_1_trajectory.html#ad0afb0d6928a4f20bb975a05b3f97947">collision::Trajectory::getBoundingVolume</a></div><div class="ttdeci">BoundingVolumeConstPtr getBoundingVolume() const </div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8cc_source.html#l00170">trajectory.cc:170</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_aaeda983c8e36ac18f988168261f57744"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#aaeda983c8e36ac18f988168261f57744">collision::TimeVariantCollisionObject::collision_object_at_time_</a></div><div class="ttdeci">std::vector&lt; CollisionObjectConstPtr &gt; collision_object_at_time_</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00080">timevariant_collisionobject.h:80</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_a2b2081ad062b954d86df6b51478cbf5a"><div class="ttname"><a href="classcollision_1_1_trajectory.html#a2b2081ad062b954d86df6b51478cbf5a">collision::Trajectory::simulate_init</a></div><div class="ttdeci">int simulate_init(int time_idx, int steps)</div></div>
<div class="ttc" id="rectangle__obb_8h_html"><div class="ttname"><a href="rectangle__obb_8h.html">rectangle_obb.h</a></div></div>
<div class="ttc" id="classcollision_1_1_trajectory_html_a16467256bfd806c0a152211b94c8d55f"><div class="ttname"><a href="classcollision_1_1_trajectory.html#a16467256bfd806c0a152211b94c8d55f">collision::Trajectory::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const </div><div class="ttdoc">Print all parameters of the shape. </div><div class="ttdef"><b>Definition:</b> <a href="trajectory_8cc_source.html#l00161">trajectory.cc:161</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1f68b4864b28e2694b3b3b7a1f9e43c"><div class="ttname"><a href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">collision::BoundingVolumeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const BoundingVolume &gt; BoundingVolumeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00035">collision_object.h:35</a></div></div>
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